相关论文: SynthCam3D: Semantic Understanding With Synthetic …

Dense indoor scene modeling from 2D images has been bottlenecked due to the absence of depth information and cluttered occlusions. We present an automatic indoor scene modeling approach using deep features from neural networks. Given a…

Training models to high-end performance requires availability of large labeled datasets, which are expensive to get. The goal of our work is to automatically synthesize labeled datasets that are relevant for a downstream task. We propose…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

We propose a new framework for conditional image synthesis from semantic layouts of any precision levels, ranging from pure text to a 2D semantic canvas with precise shapes. More specifically, the input layout consists of one or more…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Synthetic data has been a critical tool for training scene text detection and recognition models. On the one hand, synthetic word images have proven to be a successful substitute for real images in training scene text recognizers. On the…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Limited by the computational efficiency and accuracy, generating complex 3D scenes remains a challenging problem for existing generation networks. In this work, we propose DepthGAN, a novel method of generating depth maps with only semantic…

In recent years, the concept of artificial intelligence (AI) has become a prominent keyword because it is promising in solving complex tasks. The need for human expertise in specific areas may no longer be needed because machines have…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

We introduce a novel approach that takes a single semantic mask as input to synthesize multi-view consistent color images of natural scenes, trained with a collection of single images from the Internet. Prior works on 3D-aware image…

3D functionality segmentation aims to identify the interactive element in a 3D scene required to perform an action described in free-form language (e.g., the handle to ``Open the second drawer of the cabinet near the bed''). Progress has…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…